Adjustable three freedom shunt robot mechanism with passive constrain branch
A passively constrained and adjustable technology, used in manipulators, manufacturing tools, program-controlled manipulators, etc., and can solve problems such as redundant self-motion, bending moment, and small working space.
Inactive Publication Date: 2005-08-03
YANSHAN UNIV
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Problems solved by technology
Compared with the Stewart 6-SPS parallel mechanism with six degrees of freedom, the parallel mechanism with less degrees of freedom has the advantages of simple structure and easy control, but it also has disadvantages: 3-UPU mechanism has redundant self-motion, which affects normal movement; 3-RPS mechanism The working space is small; the rotational drive branches of the Delta mechanism and the 3-RRR mechanism are complex and have bending moments; the drive branches of the 3-PRR mechanism have bending moments and shear forces
The bending moment and shear force of the driving branch produce elastic deformation of the mechanism and a large load on the rotating pair, which seriously affects the normal movement of the driving device and mechanism
Method used
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[0008] Fig. 1 is an embodiment disclosed by the present invention. The kinematic chain structure of the three linear drive branches is the same, and they are symmetrically distributed in an equilateral triangle. There are ball pairs 2 at both ends of the linear drive branches, and a driving moving pair 3 in the middle. The axes of the driving moving pair 3 and The center of ball pair 2 coincides; the passive constraint branch has a moving pair and a universal pair, which are respectively located at the centers of platform 4 and base 1 on the equilateral triangle, and the constraint pose of the passive constraint branch is adjustable. The driving movement pair 3 is composed of a hydraulic linear movement driving device or a linear movement driving device composed of a motor and a screw pair. The moving pair is composed of a sleeve 5 and a key shaft 6, the moving pair sleeve 5 is fixed vertically to the center of the upper platform 4, the key shaft 6 is fixed axially to the unive...
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The present invention belongs to the field of robot and mechanical manufacture technology. The present invention features that the upper platform and the pedestal are connected via three identical linearly driving branches and one passive constraint branch; each of the driving branches has one ball pair in each end and one driving shift pair in the middle; and the passive constraint branch has one shift pair and one direction pair and has adjustable constraint posture. The present invention can realize one shift along the axis of the passive constraint branch and two rotations around the universal auxiliary crossed axes. The present invention has the features of high rigidity and high bearing capacity of parallel mechanism, only axial force in the driving branches, great work space, simple mechanism, symmetrical structure, high motion precision, etc. The present invention may be used in parallel space robot, parallel virtual shaft machine tool, etc.
Description
technical field [0001] The present invention relates to the field of robots and machinery manufacturing. Background technique [0002] For the convenience of explanation, use n (n=1, 2, 3, 4, 6) to represent the number of branches, and use S, T, P and R to represent the ball pair, universal joint, moving joint and rotating joint in the branch kinematic chain respectively , and their combination represents a branched kinematic chain structure. [0003] Parallel robots have the characteristics of high structural rigidity, strong bearing capacity, light end mass, small inertia, and no accumulation of position errors. They are complementary to serial robots in application. At present, the parallel robot mechanism with few degrees of freedom is a research hotspot in the field of robotics and manufacturing. Hunt proposed the 3-RPS mechanism in 1983, Pierrot proposed the three-translation Delta mechanism in 1990, and Tsai proposed the three-translation 3-TPT mechanism in 1996, whi...
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Inventor 路懿
Owner YANSHAN UNIV